sunnypilot v2026.002.000

version: sunnypilot v2026.002.000 (staging)
date: 2026-07-21T07:44:02
master commit: 2c334ede443d7391d27575af8c854a095ba702a8

panda/board/body/main_comms.h

@@ -0,0 +1,85 @@
+void comms_endpoint2_write(const uint8_t *data, uint32_t len) {
+  UNUSED(data);
+  UNUSED(len);
+}
+
+int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
+  unsigned int resp_len = 0;
+
+  switch (req->request) {
+    // **** 0xc1: get hardware type
+    case 0xc1:
+      resp[0] = hw_type;
+      resp_len = 1;
+      break;
+
+    // **** 0xd1: enter bootloader mode
+    case 0xd1:
+      switch (req->param1) {
+        case 0:
+          print("-> entering bootloader\n");
+          enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
+          NVIC_SystemReset();
+          break;
+        case 1:
+          print("-> entering softloader\n");
+          enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
+          NVIC_SystemReset();
+          break;
+        default:
+          print("Bootloader mode invalid\n");
+          break;
+      }
+      break;
+
+    // **** 0xd3/0xd4: signature bytes
+    case 0xd3:
+    case 0xd4: {
+      uint8_t offset = (req->request == 0xd3) ? 0U : 64U;
+      resp_len = 64U;
+      char *code = (char *)_app_start;
+      int code_len = _app_start[0];
+      (void)memcpy(resp, &code[code_len + offset], resp_len);
+      break;
+    }
+
+    // **** 0xd6: get version
+    case 0xd6:
+      (void)memcpy(resp, gitversion, sizeof(gitversion));
+      resp_len = sizeof(gitversion) - 1U;
+      break;
+
+    // **** 0xd8: reset ST
+    case 0xd8:
+      NVIC_SystemReset();
+      break;
+
+    // **** 0xdd: get healthpacket and CANPacket version hashes
+    case 0xdd: {
+      uint32_t versions[2] = {HEALTH_PACKET_VERSION, CAN_PACKET_VERSION_HASH};
+      (void)memcpy(resp, (uint8_t *)versions, sizeof(versions));
+      resp_len = sizeof(versions);
+      break;
+    }
+
+    // **** 0xb3: set motor speeds
+    case 0xb3:
+      rpm_left = (int16_t)req->param1;
+      rpm_right = (int16_t)req->param2;
+      break;
+
+    // **** 0xb4: enable/disable motors
+    case 0xb4:
+      enable_motors = (req->param1 == 1U);
+      if (enable_motors == 0) {
+        rpm_left = 0;
+        rpm_right = 0;
+      }
+      break;
+
+    default:
+      // Ignore unhandled requests
+      break;
+  }
+  return resp_len;
+}